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dj1711572002/NAV-PVT_RELPOSNED_binTest_rev001

Created December 10, 2020 07:15
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RTK_Monitor_NAV-PV_RELPOSNED Binary Recieving VB.NET DGV In debugging
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NAV-PVT_RELPOSNED_binTest_rev001
'Serial Port Recieve Sample Program
'Form1 Object must create ,button1,2 & textbox 1,2　
Imports System.IO.Ports
Public Class Form1
'Dim bdat As Byte()
Dim sdat As String()
Dim i, j, k, l As Integer
Dim NVC As Integer = 0 'NAV data Counter
Dim NVi As Integer = 0
Dim PVTflag As Integer = 0
Dim RELPflag As Integer = 0
Dim startIndex As Integer
Dim strPVT As String
Dim sbPVT As String()
Dim bPVT As Byte(,)
Dim strRELP As String
Dim sbRELP As String()
Dim bRELP As Byte(,)
Dim sw As New System.Diagnostics.Stopwatch()
'================PVT Paramers============================
Dim parPVT As Integer()
Dim parRELP As intger()
Delegate Sub DataDelegate(ByVal sdata As String)
'==========================================================================================================================================
Private Sub PrintData(ByVal sdata As String)
k = k + 1
'Debug.Print("slen=" & CStr(sdata.Length) & "sdata(" & CStr(k) & ")=" & sdata)
startIndex = sdata.IndexOf("B5-62-01-07")
If startIndex >= 0 And sdata.Length >= 299 Then
sw.Stop()
Debug.Print("--------------PVT_time=" & sw.ElapsedMilliseconds)
sw.Start()
strPVT = sdata.Substring(startIndex, 299) 'PVT 100bytex3=300 最後のデリミタが無いから299
sbPVT = strPVT.Split("-")
' Debug.Print("PVT:start=" & CStr(startIndex) & "len=" & CStr(sdata.Length) & "strPVT=" & strPVT)
PVTflag = 1
End If
startIndex = sdata.IndexOf("B5-62-01-3C")
If startIndex >= 0 And sdata.Length >= 215 Then
sw.Stop()
Debug.Print("--------------RELPOSNED_time=" & sw.ElapsedMilliseconds)
sw.Start()
strRELP = sdata.Substring(startIndex, 215) ' RELPOSNED 72bytex3=216 最後のデリミタが無いから215
sbRELP = strRELP.Split("-")
' Debug.Print("RELPOSNED:start=" & CStr(startIndex) & "len=" & CStr(sdata.Length) & "strRELP=" & strRELP)
RELPflag = 1
End If
If PVTflag = 1 And RELPflag = 1 Then
NVC += 1 'NAV data set Counter
Debug.Print("NVC=" & CStr(NVC))
'--------PVTとRELPOSNED16進数string配列を2次元Byte配列に変換--------------------------------------------
For i = 0 To 99
bPVT(NVC, i) = Convert.ToByte(sbPVT(i), 16)
' Debug.Print("bPVT(" & CStr(NVC) & "," & CStr(i) & ")=" & CStr(bPVT(NVC, i)) & ":" & sbPVT(i))
Next
For i = 0 To 71
bRELP(NVC, i) = Convert.ToByte(sbRELP(i), 16)
' Debug.Print("bRELP(" & CStr(NVC) & "," & CStr(i) & ")=" & CStr(bRELP(NVC, i)) & ":" & sbRELP(i))
Next
'-------------------------------------------------------------------------------------------------------
'=====================データ表示＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝
'------dgv1 にバイナリーPVT　RELPOSNEDを1行にまとめて表示-----------------------------------------------------------------------------------
' '---dgv1 PVT-----------------------------------
For i = 0 To 99
dgv1.Rows(NVC).Cells(i).Value = sbPVT(i)
Next i
For i = 0 To 71
dgv1.Rows(NVC).Cells(100 + i).Value = sbRELP(i)
Next i
'--------------------------------------------------------------------------------------------------------------------------------------------
PVT_Trans(NVC) ' PVT Binary を実数データに変換　parPVT(1-33) as integer
PVTflag = 0
RELPflag = 0
End If
If CheckBox1.Checked = True Then
RichTextBox1.AppendText(sdata & vbCrLf)
End If
End Sub
'=============================================================================================================================================
Private Sub Button1_Click(sender As Object, e As EventArgs) Handles Button1.Click
SerialPort1.PortName = "COM18" ' TextBox1.Text 'オープンするポート名を格納
SerialPort1.Open() 'ポートオープン
End Sub
Private Sub Button2_Click(sender As Object, e As EventArgs) Handles Button2.Click
If SerialPort1.IsOpen = True Then 'ポートオープン済み
SerialPort1.Close() 'ポートクローズ
End If
End Sub
Private Sub SerialPort1_DataReceived(sender As Object, e As SerialDataReceivedEventArgs) Handles SerialPort1.DataReceived
Dim ReceivedData As String = "" '受信データ用変数を宣言します
Try
Dim arrByte As Byte() = New Byte(SerialPort1.BytesToRead - 1) {}
SerialPort1.Read(arrByte, 0, arrByte.GetLength(0)) 'Binary Receive
ReceivedData = BitConverter.ToString(arrByte) ' & vbCrLf
Catch ex As Exception
ReceivedData = ex.Message '例外処理を行います
End Try
'Invokeメソッドにより実行されるメソッドへのデリゲートの宣言を行い、受信データを表示します
Dim adre As New DataDelegate(AddressOf PrintData)
Me.Invoke(adre, ReceivedData)
End Sub
Private Sub Form1_Activated(sender As Object, e As EventArgs) Handles Me.Activated
'============DIM initialize===============================
ReDim sbPVT(100)
ReDim sbRELP(72)
ReDim bPVT(30000, 100)
ReDim bRELP(30000, 72)
dgv1.ColumnCount = 172
dgv1.RowCount = 2000
ReDim parPVT(100)
ReDim parRELP(72)
End Sub
Private Sub PVT_Trans(ByVal NVC As Integer)
'----------------PVT Trans---------------------------------------
'Byte OFFSET=4 (header: B5,62,01,07 4Byte)
Dim off As Integer = 4
'1:iTOW 0-3
parPVT(1) = pvtI4(NVC, 0 + off)
'2:Year 4-5
parPVT(2) = pvtI2(NVC, 4 + off)
'3:month 6
parPVT(3) = CInt(bPVT(NVC, 6 + off))
'4:day 7
parPVT(4) = CInt(bPVT(NVC, 7 + off))
'5:hour 8
parPVT(5) = CInt(bPVT(NVC, 8 + off))
'6:min 9
parPVT(6) = CInt(bPVT(NVC, 9 + off))
'7:sec 10
parPVT(7) = CInt(bPVT(NVC, 10 + off))
'8:valid 11
parPVT(8) = CInt(bPVT(NVC, 11 + off))
'9:tAcc 12,13,14,15
parPVT(9) = pvtI4(NVC, 12 + off)
'10:nano 16
parPVT(10) = CInt(bPVT(NVC, 16 + off))
'11:fixType 20
parPVT(11) = CInt(bPVT(NVC, 20 + off))
'12:flags 21
parPVT(12) = CInt(bPVT(NVC, 21 + off))
'13:flags2 22
parPVT(13) = CInt(bPVT(NVC, 22 + off))
'14:numSV 23
parPVT(14) = CInt(bPVT(NVC, 23 + off))
'15:lon'24,25,26,27
parPVT(15) = pvtI4(NVC, 24 + off)
'16:lat 28,29,30,31
parPVT(16) = pvtI4(NVC, 28 + off)
'17:height 32,33,34,35
parPVT(17) = pvtI4(NVC, 32 + off)
'18:hMSL 36,37,38,39
parPVT(18) = pvtI4(NVC, 36 + off)
'19:hAcc 40,41,42,43
parPVT(19) = pvtI4(NVC, 40 + off)
'20:vAcc 44,45,46,47
parPVT(20) = pvtI4(NVC, 44 + off)
'21:velN 48,49,50,51
parPVT(21) = pvtI4(NVC, 48 + off)
'22:velE 52,53,54,55
parPVT(22) = pvtI4(NVC, 52 + off)
'23:velD 56,57,58,59
parPVT(23) = pvtI4(NVC, 56 + off)
'24:gSpeed 60,61,62,63
parPVT(24) = pvtI4(NVC, 60 + off)
'25:headMot 64,65,66,67
parPVT(25) = pvtI4(NVC, 64 + off)
'26:sAcc 68,69,70,71
parPVT(26) = pvtI4(NVC, 68 + off)
'27:headAcc 72,73,74,75
parPVT(27) = pvtI4(NVC, 72 + off)
'28:pDOP 76,77
parPVT(28) = pvtI2(NVC, 76 + off)
'29:flags3 78
parPVT(29) = CInt(bPVT(NVC, 78 + off))
'30:reserved1 79,80,81,82
parPVT(30) = pvtI4(NVC, 79 + off)
'31:headVeh 83,84,85,86
parPVT(31) = pvtI4(NVC, 83 + off)
'32:magDec 88,89
parPVT(32) = pvtI2(NVC, 88 + off)
'33:magAcc 90,91
parPVT(33) = pvtI2(NVC, 90 + off)
End Sub
Private Function pvtI4(ByVal dnum As Integer, ByVal sN As Integer) As Integer
Dim i4 As Integer
If (bPVT(dnum, sN + 3) & 0x80) & 0x80　Then '{//4番目のBYTEの最上位ビットたっていればマイナス
i4 = -(bPVT(dnum, sN) * 1 + bPVT(dnum, sN + 1) * 256 + bPVT(dnum, sN + 2) * 65536 + bPVT(dnum, sN + 3) * 256 * 256 * 256)
Else
i4 = bPVT(dnum, sN) * 1 + bPVT(dnum, sN + 1) * 256 + bPVT(dnum, sN + 2) * 65536 + bPVT(dnum, sN + 3) * 256 * 256 * 256
End If
Return i4
End Function
Private Function pvtI2(ByVal dnum As Integer, ByVal sN As Integer) As Integer
Dim i2 As Integer
i2 = bPVT(dnum, sN) * 1 + bPVT(dnum, sN + 1) * 256
Return i2
End Function
End Class
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